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CSE457 Pincer Design Calculations

The document describes the construction of a robotic pincer. It lists the components of the pincer using transformations including translations (T) and rotations (R). It then provides the total transformation to close the pincer, and solves an equation to determine the rotation angle α needed to make the total height of the closed pincer equal 6. The distance d between the tips of the pincer components when closed is calculated to be 0.25.

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103 views2 pages

CSE457 Pincer Design Calculations

The document describes the construction of a robotic pincer. It lists the components of the pincer using transformations including translations (T) and rotations (R). It then provides the total transformation to close the pincer, and solves an equation to determine the rotation angle α needed to make the total height of the closed pincer equal 6. The distance d between the tips of the pincer components when closed is calculated to be 0.25.

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api-522855390
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© © All Rights Reserved
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1.

a.
b. MB​1​ = S(½, 1)
MB​2​ = S(¼, 1)
MB​3​ = S(¼, 1)
MB​4​ = S(¼, 1)
MB​5​ = S(¼, 1)
MA​1​ = S(3, ½)
MA​2​ = S(½, 2)
MA​3​ = S(½, 2)
MP​2​ = T(0, 1)R(∝)T(0, 1)
MP​3​ = T(0, 1)R(-∝)T(0, 1)
MP​4​ = T(0, 1 + 4cos(∝))R(-∝)T(0, -1)
MP​5​ = T(0, 1 + 4cos(∝))R(∝)T(0, -1)
MP​6​ = T(0, 1 + 4cos(∝) + ¼)
MP​7​ = T(-d, 1 + 4cos(∝) + ¼ + 1)
MP​8​ = T(d, 1 + 4cos(∝) + ¼ + 1)
c. T(-d, 1 + 4cos(∝) + ¼ + 1)T(0, 1 + 4cos(∝) + ¼)T(0, 1 + 4cos(∝))R(-∝)T(0,
-1)T(0, 1)R(∝)T(0, 1)
d. The total height of the pincer is 1 + 4cos(∝) + ½ + 2 (Half of part 1, the heights
of the titled parts 2 and 4, the width of part 6, and the lengths of parts 7 and 8).
We want this to be equal to 6.
6 = 1 + 4cos(∝) + ½ + 2
2.5 = 4cos(∝)
.625 = cos(∝)
∝ = 51.32

The center of the pincer is already at x = 0, so all we have to do is close 7 and 8.


When the pincers are closed, there is no distance other than the half slice of 7 and
8 where d is measuring.
d = .25

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